Abstract: The present disclosure relates to a method for trajectory planning for a vehicle. The method includes obtaining a reference trajectory over a finite time horizon, where the reference trajectory includes a speed reference over time for the finite time horizon. Further, the method includes determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further includes forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states includes a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method includes generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique.

Abstract: The present disclosure relates to a method for trajectory planning for a vehicle. The method includes obtaining a reference trajectory over a finite time horizon, where the reference trajectory includes a speed reference over time for the finite time horizon. Further, the method includes determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further includes forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states includes a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method includes generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique.

Abstract: An electrochemical cell for detecting a gas from the surrounding environment. The cell comprises an electrolyte and a sensing electrode which is in fluid communication with the electrolyte and the gas to be detected, when present. The cell further comprises a counter electrode in fluid communication with said electrolyte, and also a source of reactant gas provided in a cavity adjacent to the counter electrode, wherein reaction of the gas to be detected at the sensing electrode results in reaction of the reactant gas at the counter electrode and wherein the cavity is formed of or comprises a membrane. The cell may also have a wick extending between the sensing electrode and the counter electrode in an axial direction and a reservoir surrounding the wick.

Abstract: An electrochemical cell for detecting a gas from the surrounding environment. The cell comprises an electrolyte and a sensing electrode which is in fluid communication with the electrolyte and the gas to be detected, when present. The cell further comprises a counter electrode in fluid communication with said electrolyte, and also a source of reactant gas provided in a cavity adjacent to the counter electrode, wherein reaction of the gas to be detected at the sensing electrode results in reaction of the reactant gas at the counter electrode and wherein the cavity is formed of or comprises a membrane. The cell may also have a wick extending between the sensing electrode and the counter electrode in an axial direction and a reservoir surrounding the wick.